\changetocdepth {1}
\select@language {danish}
\contentsline {chapter}{Forord}{v}{chapter*.2}
\contentsline {chapter}{Nomenklatur}{vii}{chapter*.3}
\contentsline {chapter}{\chapternumberline {1}Indledning}{1}{chapter.1}
\contentsline {part}{\partnumberline {I}Analyse}{3}{part.1}
\contentsline {chapter}{\chapternumberline {2}Beskrivelse af kransystem}{5}{chapter.2}
\contentsline {section}{\numberline {2.1}Mekanisk konstruktion}{5}{section.2.1}
\contentsline {subsubsection}{Motor og Gear}{6}{section*.6}
\contentsline {section}{\numberline {2.2}Elektrisk konstruktion}{6}{section.2.2}
\contentsline {section}{\numberline {2.3}Sensorer}{8}{section.2.3}
\contentsline {section}{\numberline {2.4}D\IeC {\o }dzone}{11}{section.2.4}
\contentsline {section}{\numberline {2.5}M\IeC {\ae }tning}{12}{section.2.5}
\contentsline {section}{\numberline {2.6}Afviklingsmilj\IeC {\o }}{14}{section.2.6}
\contentsline {section}{\numberline {2.7}Funktionalitet}{14}{section.2.7}
\contentsline {chapter}{\chapternumberline {3}Problemformulering}{15}{chapter.3}
\contentsline {chapter}{\chapternumberline {4}Modelbestemmelse}{17}{chapter.4}
\contentsline {section}{\numberline {4.1}Linearisering}{17}{section.4.1}
\contentsline {section}{\numberline {4.2}Friktion}{17}{section.4.2}
\contentsline {section}{\numberline {4.3}DC-motor}{18}{section.4.3}
\contentsline {subsection}{\numberline {4.3.1}Mekanisk model}{19}{subsection.4.3.1}
\contentsline {section}{\numberline {4.4}Gearing}{20}{section.4.4}
\contentsline {section}{\numberline {4.5}Kran}{22}{section.4.5}
\contentsline {subsection}{\numberline {4.5.1}Geometriske ligninger}{23}{subsection.4.5.1}
\contentsline {subsection}{\numberline {4.5.2}Momentligninger}{23}{subsection.4.5.2}
\contentsline {section}{\numberline {4.6}Samlet model}{24}{section.4.6}
\contentsline {subsection}{\numberline {4.6.1}Overf\IeC {\o }ringsfunktionen $G_{\Theta _\text {last}}(s)$}{25}{subsection.4.6.1}
\contentsline {subsection}{\numberline {4.6.2}Overf\IeC {\o }ringsfunktionen $G_{\mathaccentV {dot}05F{X}_\text {sl\IeC {\ae }de}}(s)$}{27}{subsection.4.6.2}
\contentsline {subsection}{\numberline {4.6.3}Overf\IeC {\o }ringsfunktionen $G_{\mathaccentV {dot}05F{Y}_\text {last}}(s)$}{30}{subsection.4.6.3}
\contentsline {subsection}{\numberline {4.6.4}Geometriligning $\mathaccentV {dot}05F{\mathbf {p}}$}{34}{subsection.4.6.4}
\contentsline {section}{\numberline {4.7}Lineariseringsfejl}{35}{section.4.7}
\contentsline {section}{\numberline {4.8}Parameterestimering}{36}{section.4.8}
\contentsline {section}{\numberline {4.9}Delkonklusion}{47}{section.4.9}
\contentsline {chapter}{\chapternumberline {5}Kravspecifikation}{49}{chapter.5}
\contentsline {section}{\numberline {5.1}Funktionskrav}{49}{section.5.1}
\contentsline {section}{\numberline {5.2}Reguleringskrav}{50}{section.5.2}
\contentsline {chapter}{\chapternumberline {6}Accepttestspecifikation}{53}{chapter.6}
\contentsline {part}{\partnumberline {II}Konstruktion}{55}{part.2}
\contentsline {chapter}{\chapternumberline {7}Indledning til konstruktion}{57}{chapter.7}
\contentsline {chapter}{\chapternumberline {8}Digitalisering}{59}{chapter.8}
\contentsline {section}{\numberline {8.1}Sampling}{59}{section.8.1}
\contentsline {section}{\numberline {8.2}Antialiasing}{60}{section.8.2}
\contentsline {section}{\numberline {8.3}Diskretisering}{61}{section.8.3}
\contentsline {chapter}{\chapternumberline {9}Klassisk regulering}{63}{chapter.9}
\contentsline {section}{\numberline {9.1}Systemtypebestemmelse}{64}{section.9.1}
\contentsline {section}{\numberline {9.2}Anti-windup}{65}{section.9.2}
\contentsline {section}{\numberline {9.3}Stabilitetsanalyse}{66}{section.9.3}
\contentsline {section}{\numberline {9.4}Dimensionering}{67}{section.9.4}
\contentsline {subsection}{\numberline {9.4.1}Regulator til $x$-retning}{67}{subsection.9.4.1}
\contentsline {subsubsection}{Hastighedregulator}{67}{section*.31}
\contentsline {subsubsection}{Vinkelregulator}{69}{section*.32}
\contentsline {subsubsection}{Verificering}{72}{section*.33}
\contentsline {subsection}{\numberline {9.4.2}Regulator til $y$-retning}{73}{subsection.9.4.2}
\contentsline {subsubsection}{Verificering}{75}{section*.34}
\contentsline {section}{\numberline {9.5}Implementering}{76}{section.9.5}
\contentsline {subsection}{\numberline {9.5.1}Regulator til $x$-retning}{76}{subsection.9.5.1}
\contentsline {subsubsection}{Lasthastighed}{78}{section*.35}
\contentsline {subsection}{\numberline {9.5.2}Regulator til $y$-retning}{79}{subsection.9.5.2}
\contentsline {chapter}{\chapternumberline {10}Moderne regulering}{81}{chapter.10}
\contentsline {section}{\numberline {10.1}Bestemmelse af tilstandsform}{82}{section.10.1}
\contentsline {section}{\numberline {10.2}Styrbarhed}{83}{section.10.2}
\contentsline {section}{\numberline {10.3}Observerbarhed}{84}{section.10.3}
\contentsline {section}{\numberline {10.4}Tilbagekobling}{84}{section.10.4}
\contentsline {subsection}{\numberline {10.4.1}Reelle poler}{85}{subsection.10.4.1}
\contentsline {subsection}{\numberline {10.4.2}LQR}{86}{subsection.10.4.2}
\contentsline {section}{\numberline {10.5}Anti-windup}{87}{section.10.5}
\contentsline {section}{\numberline {10.6}Observer}{88}{section.10.6}
\contentsline {section}{\numberline {10.7}Fremkobling}{89}{section.10.7}
\contentsline {section}{\numberline {10.8}Dimensionering}{91}{section.10.8}
\contentsline {section}{\numberline {10.9}Implementering}{95}{section.10.9}
\contentsline {part}{\partnumberline {III}Afslutning}{101}{part.3}
\contentsline {chapter}{\chapternumberline {11}Accepttest}{103}{chapter.11}
\contentsline {section}{\numberline {11.1}Klassisk regulering}{103}{section.11.1}
\contentsline {section}{\numberline {11.2}Moderne regulering}{106}{section.11.2}
\contentsline {chapter}{\chapternumberline {12}Funktionalitetstest}{109}{chapter.12}
\contentsline {section}{\numberline {12.1}Opbygning}{109}{section.12.1}
\contentsline {section}{\numberline {12.2}Resultatbehandling}{111}{section.12.2}
\contentsline {section}{\numberline {12.3}Brugeroplevelse}{113}{section.12.3}
\contentsline {section}{\numberline {12.4}Afrunding}{113}{section.12.4}
\contentsline {chapter}{\chapternumberline {13}Vurdering}{115}{chapter.13}
\contentsline {chapter}{\chapternumberline {14}Konklusion}{117}{chapter.14}
\contentsline {chapter}{\chapternumberline {15}Perspektivering}{119}{chapter.15}
\contentsline {chapter}{Litteratur}{121}{section*.38}
\contentsline {part}{\partnumberline {IV}Appendiks}{123}{part.4}
\contentsline {appendix}{\chapternumberline {A}M\IeC {\r a}linger af sensorer}{125}{appendix.A}
\contentsline {appendix}{\chapternumberline {B}M\IeC {\r a}ling af effektforst\IeC {\ae }rker}{133}{appendix.B}
\contentsline {appendix}{\chapternumberline {C}Test anvendt i indledende analyse}{137}{appendix.C}
\contentsline {appendix}{\chapternumberline {D}Funktionalitetsfors\IeC {\o }g}{141}{appendix.D}
